摘要
基于freescale公司的16位HCS12单片机设计一种智能车系统。系统摄像头采集路径信息,通过单片机的模糊推理机在线整定PID参数,使小车能按照任意给定的黑色引导线平稳地寻迹。实验证明:系统能很好地满足智能车对路径识别性能和抗干扰能力的要求,舵机调节响应时间快,稳态误差小,具有较好的动态性能和良好的鲁棒性。
An intelligent vehicle system based on Freescale 16-bit single-chip is presented .The system recognizes the path through a CMOS camera, adaptively adjusts the PID parameters based on fuzzy interference machine online. And the vehicle tracks random black guide line smoothly. Experimental results show that the system meets the need of path recognition and anti-interfere, adjusts actuator quickly, while has little error in steady state, good dynamic characteristics and well robustness.
出处
《兵工自动化》
2008年第10期67-69,共3页
Ordnance Industry Automation
